Machine tool method

ABSTRACT

A machine tool apparatus is provided employing a plurality of tool heads which may be sequentially or simultaneously automatically controlled to perform preprogrammed operations on either the same or different workpieces. In one form, a plurality of tool heads are supported on the same frame, guideway or track and may be separate prepositioned or driven under remote or automatic control to perform preprogrammed operations wither in sequence or simultaneously on the same workpiece or simultaneously on separate workpieces spaced apart on a common conveyor such as a flight conveyor while the conveyor is either in motion or stationary. 
     In another form, the conveyor is automatically stopped with units of work thereon, each disposed so as to be predeterminately located with respect to a respective machine tool which has been prepositioned adjacent the work-holding conveyor. In yet another form, at least certain of the machine tools are movable parallel to the work-holding conveyor so that they may be predeterminately moved prior to and/or during operations on work. 
     In yet another form, means are provided for transferring units of work from the work-holding conveyor to temporary platforms adjacent certain of the respective machine tools so that each tool may perform automatic operations on work while the work-holding conveyor remains operating.

RELATED APPLICATIONS

This is a continuation of application Ser. No. 06/251,656, filed Apr. 6,1981, now abandoned which is a continuation of application Ser. No.05/091,908 filed Nov. 6, 1979, now abandoned, which is a continuation ofapplication Ser. No. 05/107,357 filed Jan. 18, 1971, now abandoned,which is a continuation-in-part of:

-   -   a) application Ser. No. 05/858,560 filed Aug. 29, 1969, now U.S.        Pat. No. 3,854,889, which is a continuation of application Ser.        No. 05/629,758 filed Apr. 10, 1967, now abandoned, which is a        continuation-in-part of application Ser. No. 05/465,812 filed        Apr. 8, 1965, now U.S. Pat. No. 3,313,014, which is a        continuation-in-part of application Ser. No. 05/152,702 filed        Oct. 17, 1961, now abandoned, which is a divisional of        application Ser. No. 03/449,874 filed Jul. 28, 1954, now        abandoned, and    -   b) each of the applications Ser. No. 04/712,443 filed Mar. 12,        1968, now U.S. Pat. No. 3,559,256, and Ser. No. 05/717,065 filed        Mar. 12, 1968, now U.S. Pat. No. 3,559,257; each of said        applications Ser. Nos. 04/712,443 and 05/717,065 being a        continuation-in-part of application Ser. No. 04/387,954 filed        Aug. 6, 1964, now U.S. Pat. No. 3,372,568, which is a        continuation-in-part of application Ser. No. 04/219,357 filed        Aug. 13, 1962, now abandoned, which is a continuation-in-part of        application Ser. No. 03/557,415 filed Apr. 10, 1956, now U.S.        Pat. No. 3,049,247, which is a continuation-in-part of the        applications Ser. No. 03/477,467 filed Dec. 24, 1954, now        abandoned, and Ser. No. 03/449,874 filed Jul. 28, 1954, now        abandoned.

SUMMARY OF THE INVENTION

This invention relates to an automatic production apparatus and methodfor producing products employing a plurality of remotely controlledmachine tools operative to perform preprogrammed operations in sequenceand in certain instances simultaneously on the same workpiece.Heretofore, machine tools have been automatically controlled to performeither the same repetitive operation on the same workpiece or, if themachine tools have been program controlled by means such as a numericalcontroller or computer, it has been required that the same type ofworkpiece be sent to each machine for performing similar operations oneach unit until the machine can be reprogrammed to perform differentoperations. Accordingly, it is a primary object of this invention toprovide an automatic production apparatus including a plurality ofproduction machines, each of which is separately program controllableand simultaneously operable on either the same or different workpieceswhereby the total time required to operate on a specific workpiece issubstantially reduced.

Another object is to provide an automatic production apparatus includinga transport means for a power operated tool and control means for saidtool which is operative to permit the initiation and performance ofpredetermined operations on a workpiece without the need for preciselypositioning the work relative to the transport means.

Another object is to provide a new and improved automatic productionapparatus having a plurality of self-propelled machine tools movablealong a common guide or trackway and each program controllable in itsoperation to operate on work from any selected location on said trackwaywhereby two or more separate machine tool units may performpredetermined operations relative to a single workpiece or a pluralityof workpieces of different sizes and shapes.

Another object is to provide an automatic production system having aplurality of machine tools each of which is separately positionablealong a common guide or trackway so as to permit each tool to performvaried operations on not only units of conventional work to be machinedbut also large work assemblies.

Another object is to provide a new and improved automatic productionsystem having a common carrier or guideway means for a plurality ofdifferent production tools including tools for performing operationswhich conventionally require both automatic machine tool operation andmanual operations such as machining, finishing, assembling, fastening,inspection and transfer of both semi-finished and finished goods to andfrom their production area or line thereby totally eliminating the needfor manual labor to produce certain assemblies currently requiring asubstantial amount of same.

BRIEF DESCRIPTION OF DRAWINGS

With the above and such other objects in view as may hereafter morefully appear, the invention consists of the novel constructions,combinations and arrangements of parts as will be more fully describedand illustrated in the accompanying drawing, but it is to be understoodthat changes, variations and modifications may be resorted to which fallwithin the scope of the invention as claimed.

In the drawings:

FIG. 1 is a block-diagram of an automatic machine control system broadlydefining aspects of the instant invention;

FIG. 2 is a side view of one form of machine or tool which may becontrolled by the system defined in FIG. 1;

FIG. 2′ illustrates modified features applicable to the machineillustrated in FIG. 1;

FIG. 2″ is a fragmentary sectional view of a means for coupling a toolassembly to an arm fixture assembly in accordance with the invention;

FIG. 3 is a schematic diagram illustrating further details of anautomatic control system of the type illustrated in FIG. 1;

FIG. 3′ is a schematic diagram illustrating a modification to thecontrol system of FIG. 3;

FIG. 4 is a schematic diagram showing further modifications to a systemof the type illustrated in FIG. 3;

FIG. 5 is a schematic diagram showing further modifications to thesystem shown in FIG. 3;

FIG. 6 is a plan view of an automatic production line embodying featuresof the instant invention;

FIG. 7 is a plan view of a portion of a modified automatic productionline embodying features of the invention, and

FIG. 8 is an end view in partial cross section of a portion of theapparatus shown in FIG. 7.

DETAILED DESCRIPTION

For the purpose of simplifying the drawings and description to follow itis assumed that, where not shown, the correct circuit, power supplies,diodes and the like are provided on the proper sides of all motors,switches, relays, solenoids, counters, and similar devices used forcontrol. Also, any mechanical features or devices not illustrated areassumed to be provided in accordance with available conventionalcomponents or assemblies or are illustrated in greater detail in one ofmy said copending applications.

Provided and described hereafter are systems for effecting the automaticand remote control of one or a plurality of power operated devices whichare electrically controlled by remotely generated digital recordingscomprising portions of what will be referred to as command controlmessages. A command control message is defined as one made up ofdifferent message units each of which is a portion of the entire messageand contains, in addition to one or more discrete groups of digitalsignals or pulse trains, one or more digital and/or tone signalsoperative to effect the selective gating of a command control portion ofsaid message unit to a particular controller or control device in thesystem for activating or presetting said control device. The separatemessages may thus each comprise (a) a series of pulse trains or digitalcodes generated as electrical signals of the same frequency, (b) aseries of pulse trains or codes having interposed between certain ofsaid codes, tone signals of different frequencies which are operative toenergize different code responsive or tone responsive relays in thecontrol system for gating a respective portion or code unit of theremainder of the message to a respective control device for energizingor presetting same in accordance with the digital value of the gatedcode or (c) a series of tone signals of different frequencies withcertain of said tones being operative to effect the gating of other tonesignals to preset or energize controls in the system responsive only torespective tone signals. Thus, while the switching means describedhereafter may be defined as code responsive or coded relays responsiveto code portions of the command control message, they may also comprisetone relays responsive to specific frequency tones disposed betweenother digital code, pulse train or tone portions thereof operative toeffect control of the operation of the tool and the motor meanspositioning the tool relative to the work on which it performs.

Command control messages may also be composed of different codes orcontrol tones which are transmitted simultaneously in which said codescomprise pulse trains or groups of digital signals each of a differentfrequency. The groups of tones or tone codes may be recorded as they aretransmitted on a single channel of the magnetic recorder of the machineor station to which they have been gated and separated thereafter by theproper filter means. Thus, they may be independently used for control ofrespective servos or filtered from one another and independentlyrecorded on different channels of a multi-channel recorder or utilizedupon separation from the single signal to preset respectivepredetermining means as described hereinafter.

FIG. 1 shows elements of an automatic production system or apparatus 10having a plurality of power operated tools and devices 19 each of whichis remotely controllable to perform a specific function or functionsrelative to work in process, equipment or facilities in operation. At alocation remote from said power operated devices 19, a source 11 ofinput command signals is operatively connected to a scanning device orreader 12. The command signals which control one or more of said poweroperated devices 19 may be provided as digital recordings or the like onone or more of a plurality of cards, tapes, discs or other recordingmedia which are scanned by photoelectric, magnetic, mechanical switchesor other scanning means referred to as reader 12. The result of scanningis generated as a plurality of digital signals on the output 13 ofreader 12 which are transmitted as one or more command messages whichare individually transmitted and routed to respective receiversassociated with selected of the plurality of power operated devices 19.

Transmission of the signals generated on the output of scanner or reader12 may be accomplished by wire or short wave means. In FIG. 1, theoutput 13 is connected by wire to a switching system 14 such as anautomatic telephone switching system which is operative by the firstportion of the message generated in reader 12 to effect switching of theremainder of the message on a selected of a plurality of outputs 15thereof to a selected machine or tool station generally designated 16.In other words, a plurality of tools or tool stations designated 16-1,16-2, 16-3, etc. may be provided in the system 10 illustrated in FIG. 1,any one or more of which may receive a particular command controlmessage in accordance with the switching and connection portion of themessage which is first generated and transmitted to switching system 14.Each of the plurality of tools or power operated devices 19 is activatedthrough an assembly including a receiver-controller 17 which isoperative to receive and record or otherwise utilize command controlmessages destined to automatically control the machine tool or deviceassociated therewith. The receiver and controller 17 of each toolpreferably includes a recording means for a plurality of command controlmessages and means presettable by a particular message forpredetermining the operation of a tool transport means 18 and the tool19 itself.

The transport means 18 may comprise one or more motor driven fixturesfor prepositioning one or more power operated devices 19 in sequencewith their operation as controlled by the output of receiver andcontroller 17. The power operated devices 19 for each unit or station 16may vary from single or multiple open-loop tools such as motor drivendrills, riveters, welding tools, mills, buffers, grinders, materialapplicators, such as sprayers or the like. They may also compriseassembly and/or disassembly tools for fasteners or components associatedwith a machine, component or work in process which is positioned in therealm of operation of the power operated devices 19. Other open-loopdevices may also include scanning and inspection machines and apparatussuch as X-ray, ultrasonic, electron-beam or other radiant energy devicesoperative to inspect a predetermined portion of a workpiece or assemblyor to machine, weld, or otherwise operate thereon in accordance withmovement and operation thereof as controlled by the command controlmessage or messages transmitted to the receiver and controller 17.

Tools of the type described may also be operative in a closed-loopsystem which includes one or more feedback signal generating meansoperative in response to signals generated with the movement of thetool, its operation and/or by scanning that portion of the work affectedby the tool or device 19.

FIG. 2 shows an automatic production tool T and a transport orpositioning means therefore which is applicable to perform variousoperations controlled by command signals generated remote therefrom. Theautomatically operative apparatus, generally designated 20, includesguide means for a tool carriage assembly 24 in the form of an overheadmounted track 22 and a floor mounted track 23 extending adjacent to oneor more workpieces or assemblies W disposed along the path of theparallel tracks 22 and 23. The tracks 22 and 23 may be fixed within agiven work area and may comprise one of a plurality of such tracks, eachmounting a respective tool carriage assembly 24 or may be mounted on afurther frame or tool base which is movable to a particular productionor maintenance location by automatic or manually directed means.

Supporting the assembly 24 from above is a first support carriage 30having a plurality of wheels 31 rotationally supported thereon whichride in respective V-shaped grooves in the bottom legs of the I-beamshaped track 22 along which the tool assembly 24 is movable forpositioning the tool T thereof at different locations defined by theextension of tracks 22 and 23. Extending between the upper supportcarriage 30 and a lower support carriage 30′ is a vertical fixture orcolumn 25 supporting a second support carriage 26 which is movable upand down along column 25.

A first motor Mx is mounted on carriage 30 and is operative to drivesaid carriage 30 longitudinally along track 22. The output shaft of gearmotor Mx mounts a drive wheel 33 which may frictionally engage the lowersurface of track 22 or may contain a plurality of teeth engaging a spurgear portion of the lower surface of track 22 (not shown). A singlewheel 31′ has a wedge-like peripheral indentation which rides on awedge-shaped upwardly extending portion 23′ of track 23 for supportingthe assembly 24 in fixture relation thereon.

Carriage 26 is driven up and down on column 25 by any suitableelectrically controllable drive means mounted either on said carriage 26or the remainder of the assembly. In FIG. 2, a plurality of toothedwheels 26′ are shown rotationally mounted on carriage 26 and are drivenby a motor Mz also mounted thereon, to engage one or more spur geartoothed portions. Shown laterally extending from support carriage 26 isa fixture assembly 27 including a first arm 27 a and a second arm 27 bmounted for movement relative to arm 27 a. Carriage 26 is secured to theend of assembly 27. A fitting 27 f containing a plurality of fork-likeelements 27 f′ pivotally supports arm assembly 27 b on a shaft or pins27 s. A motor MR mounted within arm 27 a, is operative to pivot arm 27 babout the axis of aligned pins 27 s under the control of the computingmeans to be described. Mounted near the end of arm 27 b is a toolassembly 27 c containing a tool or other power operative device T. Thetool assembly 27 c is preferably removable from the end of 27 b as shownin my said applications of which this is a continuation-in-part, so asto permit different tools to be operated by the apparatus illustrated bythe performance of minor changeover functions therefor.

In addition to the provision of one or more workpieces, machines orassemblies W disposed at different locations adjacent to track 22 to beselectively operated on by the tool T of the assembly 24 in accordancewith a programmed sequence of movements and operations, a means 34 inthe form of one or more assemblies or supports is provided adjacent oneor more of the work members W or extending parallel to the track 22which serves as a bucking member for the tool T. Shaft 32 of a linealservo is mounted on or within the housing which supports motor Mz andoperative to be projected against the adjacent surface of member 34during the operation of the tool T to serve as a support or buckingmeans for the tool T and/or a means for prepositioning tool T relativeto the work. The head 32′ at the end of shaft 32 engages member 34 andtransmits axial forces directed therethrough from the tool T to member34. Operation of head 321 to project against member 34 is preferablyprogram controlled by the same means controlling the various servomotors such as Mx, Mz, MR and MT.

All of the components operative to control both prepositioning andoperation of the one or more tools T mounted on the assembly 24 aremounted in housing CO. Such components operate in accordance with aprogrammed input originating as one or more command control messagestransmitted thereto from a remote location as will be hereinafterdescribed.

Other features of the apparatus of FIG. 2 include a plurality of wires29 which are supported off track 22 by a plurality of insulating spacers29′. An assembly 28 of slides or brush elements which are insulatedlysupported by carriage 30 and movably engage respective of the pluralityof wires 29 for the transmission of electrical energy to the variousservo motors mounted on apparatus 20 and of signals operative to controlsaid motors.

A retractor reel 35 a of electrical cable 36 extends between housing COand the various motors mounted on the carriage 26 and the tool fixtureassembly 27 extending therefrom. The retractor reel 35 a is operative toretract cable 36 when carriage 26 moves upwardly and to permit thepaying out of cable 36 when carriage assembly 24 moves downwardly.

Scanning and switching controls for the apparatus 20 which willhereinafter be described in greater detail, include a photoelectric cellrelay 48 mounted on carriage 30 and operative to scan a grid, marks orreflective markers disposed along the edge of the upper leg of theI-beam track 22. Mounted on the other wall of carriage 30 is a limitswitch 49′ adapted to be activated by a pin or pins projecting fromtrack 22. Either or both these scanners may be mounted on the lowercarriage 30′ to define means for controlling movement of the assembly 24along the path defined by both tracks.

A photoelectric scanning relay 35 is shown secured to the housing oftool assembly 27 c for the tool T disposed at the end of arm fixtureassembly 27 and is operative to scan and detect the work surface,portions thereof, reflective markers or other means disposed on oradjacent to the work or its holding fixture. The relay 35 preferablyincludes a photoelectric cell disposed in a first housing or compartment35′ adjacent to a light source disposed in a second compartment 35″ andadapted to project a beam of light substantially parallel to thescanning axis of the photoelectric cell so that the cell may becomeenergized upon detecting the light from said light source after itsreflection off the surface of the work being scanned. The photoelectricrelay 35 may be utilized for merely detecting the appearance of aportion of the workpiece such as an edge thereof as it comes intoalignment with the projected light beam. It may also be utilized foreffecting fine adjustment and positional control of the tool positioningfixture in scanning narrow retro-reflective markers or grid linesdisposed on a reflex reflecting surface such as the commerciallyavailable Scotch Lite.

FIG. 2′ illustrates the fixture assembly 27 of FIG. 2 modified with aplurality of limit switches 117 and 118 mounted on and projecting indifferent directions from the housing of tool assembly 27 c. A firstlimit switch 117 is adapted, with its actuator arm projecting laterallyand horizontally outward therefrom, to engage a vertical surface of aworkpiece, housing of a machine or the like. A second limit switch 118is mounted on assembly 27 c with its actuator arm projecting verticallydownward and is adapted to effect automatic control of the apparatus aswill hereinafter be described when it engages a horizontal surface suchas the top of the workpiece or a lateral projection thereof. Other meansmay also be utilized for sensing workpiece or workmount surfaces such asmagnetic means or means such as photoelectric relay 35 adapted to detectthe reflection of a light source off the surface of the workpiece.

As stated, the tool or device T positioned by the apparatus 20 in therealm of movement of the arm fixture assembly 27 may comprise variousforms of electrically controlled power operative devices for performingone or more of a plurality of production machining, assembly orinspection functions, material handling or maintenance functions. Thesedevices may include various tools adapted to shape or machine the worksuch as drills, mills, saws, grinders, buffers, punchers and shapers orthe like; various assembly devices including welding tools, riveters andother fastener applicators adapted to be automatically prepositioned andoperated in a programmed fashion on the work; various inspection devicesincluding radiation devices such as light, X-ray, magnetic fieldmeasurement, electron beam measurement and cathode ray devices such as atelevision camera of photomultiplier device and various maintenancetools including wrenches, screwing and unscrewing devices, manipulatorsfor valves, dials and arms projecting from the piping or devices to becontrolled thereby; manipulator jaws or the like.

In FIG. 2 motor MR is operative to pivot the arm 27 b on arm 27 a. Thisservo motor MR may also be operative to project and retract 27 b withrespect to arm 27 a or to rotate 27 b about the longitudinal axis of arm27 a. In other words, various combinations of rotary and lineal servodevices are conceived as applicable to the arm fixture assembly 27 asillustrated or to various modifications thereof depending on theproduction functions required of the apparatus. If servo MR is a gearmotor operative to rotate 27 b about the longitudinal axis of arm 27 a,then the automatic control means described hereinafter may be operativeto effect the automatic assembly and disassembly of various toolhousings and the different tools held thereby with the end of arm 27 b,particularly if assembly is effected by threading means in which toolassembly 27 c is screwed onto the end of arm 27 b.

A fixture for holding a plurality of tools T located in differenthousings of tool assembly 27 c may be prepositioned relative to thetrack 22 so that command message control of the operation of motor Mxafter controlling Mz to position carriage 26 at the proper height, maybe operative to effect the disassembly of one housing of tool assembly27 c already mounted on the end of arm 27 b and its placement in apredetermined is location on said fixture and the automatic assemblythereon of a selected tool housing which is at a predetermined locationon said fixture.

FIG. 2″ shows details of the coupling means at the end of arm fixtureassembly 27 such as arm 27 b operative to both secure the tool assembly27 c thereto and electrically connect the devices secured therein to theelectrical circuitry of the fixture assembly 27 and the power andcontrol means located in housing CO. The arm or column defining the endof fixture assembly 27 has a threaded end 27 t for removably securing itto the threaded end 27 t′ of the housing or mount of tool assembly 27 c,which function may be performed automatically as described by rotatingeither or both assemblies after their signal controlled alignment witheach other. Electrical connection of components MT or others mountedwithin the housing of tool assembly 27 c may be effected by theprovision of aligned contact members at the end of fixture assembly 27and within tool assembly 27 c which contact member engage each other toconnect respective circuits of both assemblies when the proper degree ofrelative rotation of both is effected.

In FIG. 2″ a push-pull, bi-stable solenoid 27 sc is secured withinfixture assembly 27 near the end thereof and mounts a pluggableelectrical connector C at the end of its shaft. Connector C is adaptedto engage a receptacle or female electrical connector C′ secured withintool assembly 27 c upon coupling of assemblies 27 and 27 c by theprojection of the shaft of solenoid or lineal servo 27 sc. A signaloperative to project said shaft may be derived from the programmedcommand control sequence as will be hereinafter described. Thus, themulti-circuit cable 27 w extending along the interior of fixture or armassembly 27 is electrically connected to respective lines of a cable 27w′ associated with the housing of tool assembly 27 c. Line 27 w is shownslack or coiled at its end to permit it to be advanced and retractedwith movement of the shaft of the solenoid 27 sc and line 27 w′ maycontain power and control circuits operative to energize the variouselectrical devices such as tool servo MT associated with tool assembly27 c. A key or shaped portion 27 k on the housing of tool assembly 27 cprojects therefrom and is used for aligning and retaining said assembly27 c in its storage fixture and/or is used to rotate and assemble samewith fixture assembly 27.

Other features of the apparatus of FIG. 2 include the provision of aservo or solenoid operated means for engaging and locking the carriage30 against the track 22 to steady and preposition the tool carrierassembly 24 during the performance of a particular production operationthereof. A solenoid 30 s mounted on the sidewall of carriage 30 has anactuator arm adapted to project and engage the main rib of the I-beamtrack 22. Such a device, which may also be mounted on the bottomcarriage 30′ for the engagement of the track 23, may be automaticallycontrolled to engage and disengage track 22 by respective portions ofthe command control message, prior to and after tool operation on thework in a predetermined cycle as described hereinafter.

FIG. 3 illustrates further details of a system employing one or moreremotely controlled tools or devices as described. A source of commandcontrol messages is operative at a station or console, generallydesignated 50, which is situated remote from the power operated devicescontrolled thereby. The command control messages may be generated bymanual means including a dial operated or push button digital pulsetrain generating device 51 or a code generating device 54 such as thedescribed card, tape, disc or drum reader having recording elementscontaining said command control messages which are sequentially scannedin the reader to generate said messages electrical signals. The outputs52 of device 51 and outputs 55 of device 54 are connected to a signaltransmitter 60 which is operative to transmit by short wave or wire 61the command messages of devices 51 and 54 to a plurality of receiversfor power operative production devices in work stations 16-1, 16-2, etc.

Assuming that the command control message generated on the output oftransmitter 60 is destined for the power operated devices associatedwith station 16-1, said message is received by the receiver 62-1 thereofas well as the other receivers 62 of the system but is only gated to thecontrol apparatus coupled to the output of receiver 62-1, to theexclusion of all other control apparatus in the system, by means of atone or coded relay CR-1 connected across the output of 62-1. The relayCR-1 contains a normally open slow-to-close or bi-stable switch and isoperative to close said switch in response to a first portion of thecommand control message which may be a code or tone of such acharacteristic as to activate relay CR-1 to the exclusion of similartypes of relays each connected to the output of the other receivers 62in the system. The remainder of the command control message is thenoperative to perform the following functions.

The next portion or unit code part of the command control message ispassed to a second coded relay CR-2 and is utilized to activate relayCR-2 to energize the switching input of a rotary stepping switch 63 tostep said switch to the next switching position or any predeterminedswitching position. The output of the receiver 62-1 passes through therotary stepping switch 63 to a selected of a plurality of outputsthereof each of which is connected to a respective recording head RH ofa bank of said heads which are positioned to record messages onrespective of a plurality of recording tracks of a magnetic recordingdrum, disc, etc.

The drum 65 is driven by a servo device MD which, in the apparatusillustrated, is operative in one of two selected modes includingconstant speed rotation of drum 65 or stepping rotation of said drum aswill be described hereinafter.

A plurality of reproduction heads PU are operatively coupled to therecording channels of drum 65 permitting the recorder 64 to serve as asource of a plurality of command control messages transmitted theretofrom station 50 which messages are selectively reproducible thereform,one after the other or in predetermined sequence, to control thepositioning and operation of the one or more power operative devicesassociated with the assembly or station 16-1. The heads PU are eachconnected to a respective input of a solenoid or servo driven rotarystepping switch 66. The single output 66′ of switch 66 is connected tothe input of a second rotary stepping switch 68 for distributingportions of the reproduced command controlled message to variouspredetermining controllers which are operative for controlling themovement and operation of the one or more power operative devices. Theswitch 68 is stepped to gate the input 66′ to the various outputsthereof by means of a third tone or coded relay CR-3 which operates theservo 68 s driving the switch 68 in response to portions of the commandcontrol message disposed between the other portions thereof which areutilized for controlling the further control devices coupled to theoutputs of 68.

A typical cycle of operation will now be described in order to describethe various control components and features of the particular systemillustrated in the drawing. A first portion or code unit of the commandcontrol message is gated on line 66′ through switch 68 to apredetermining controller PrCMx which is operative to control a firstservo motor Mx for positioning the the machine tool in a first directionalong guide or track 22. It is assumed that carriage 30 is located at apredetermined position on the track 22 as defined by a home positionlocator stop or pin 49 and a limit switch 49′ mounted on the carriage30′. Switch 49′ is operative when its actuator arm strikes 49 as thecarriage 30 moves to said home position to have stopped motor Mx with,for example, an end of track 22. Controller PrCMx may be of the code orpulse-presettable type as described in my said copending application,and is operative to receive a pulse or tone code or predetermined numberof digital pulses comprising the portion of the command control messagegated thereto Such pulses preset the controller or counter whereby itoperates thereafter to generate a stop-signal upon: receipt of apredetermined number of feedback pulses produced with movement of thecarriage 30 along track 22 by a scanning means such as a limit switch orphotoelectric cell 48 which scans incremental marks, holes or griddevices 48M along track 22 or disposed on a member positioned adjacentthe track, and generates a pulse each time a grid line 48 or pin is soscanned.

The next portion of the command control message is operative to activatecode reponsive relay CR-3 to step or rotate switch 68 to the nextswitching position to gate the following portion of the message to asecond predetermining controller PrCMz which is constructed similarly tocontroller PrCMx. Controller PrCMz is operative to control the servomotor Mz which drives carriage 26 in a vertical direction forpropositioning tool T in a vertical direction relative to work disposedin alignment therewith as a result of controlled operation of motor Mz.

The coded relay CR-3 which controls operation of the rotary switch driveelement of switch 68 is next energized by a code or tone comprising thenext portion of the command message to step the input 66′ thereto to anoutput extending to a third predetermining controller PrCMR whichcontrols operation of fixture rotating servo motor MR for angularlypositioning the tool mounted portion of the fixture relative to the workdescribed elsewhere herein. The input 66′ is controlled by the steppingof switch 66 through CR-4 and S-3. Servo motor MR may be operative torotate the entire fixture on its base or overhead mounted carrier or topivot one or more portions of the fixture and the notation may berepresentative of a plurality of such motors operative to rotate,project or pivot different portions of the fixture and/or tool.

Further portions of the reproduced digital message are operative toactivate the relay CR-3 which effects rotation of rotary switch 68 forgating predetermined portions or units of the message to othercontrollers for controlling operation of the tool or tools disposed onthe fixture prepositioned by motors Mx, Mz, MR, etc. The controllersillustrated in FIG. 4 are presented to be illustrative only and theirnumber as well as mode of operation and devices controlled thereby maybe varied according to specific production requirements. Thesecontrollers include pulse presettable predetermining controllers PrCMT-1and PrCMT-2 the function of which will be described and one or morevariable control devices MTC. In their simplest form, control devicesMTC may comprise multicurcuit timers or the like adapted to gateelectrical energy or pulses to the respective of the start and stopcontrols of the various motors and servos such as Mx, Mz, MR, MT-1 andMT-2. Such gating may be in sequence and of a time duration or timeseparation such that the tool or tools T-1, T-2, etc. mounted on thefixture will be operated in a predetermined manner during a production,inspection or maintenance function and/or will be moved through apredetermined path after being prepositioned as described.

Assume first that the tool transport means or tool carriage assembly 24is located with the carriage 30 stopped at a home position as defined bya pin 49 or other stop located on the track 22 which engages theactuating arm of limit switch 49′ mounted on carriage 30 causing saidswitch to activate the stop control S of motor Mx. A start pulsecomprising a portion of the reproduced command control message is gatedthrough rotary switch 68 and transmitted on an output 68-1 thereof tothe start control F of motor Mx. Thus, assembly 24 is driven along track22 in the direction of the workpiece or device which is situatedadjacent track 22 and is adapted to be operated on by tool T or scannedby an inspection device mounted on carriage assembly 24.

As carriage 30 travels along track 22, photoelectric scanned 48, scansposition indicating marks 48M disposed along or adjacent track 22 andgenerates pulses for uncounting the predetermining counter controllerPrCMx which has been preset by a portion of the command control message.Upon uncounting, the controller PrCMx transmits a control pulse to thestop control S of motor Mx and the forward or up-drive control input Uof motor Mz to cause the carriage 26 to rise from its lowermost positionat the bottom of the track defined by vertical member 25. Uncounting ofpredetermining controller PrCMz is effected by means of a switch SWMzpositioned to become actuated with rotations or fractions of rotationsof the output shaft of gear motor Mz and to generate a pulse each timeit is so actuated which is transmitted to the uncount input ofcontroller PrCMz.

Upon uncounting, controller PrCMz generates a control pulse which istransmitted to the stop control S of motor Mz and to the start control Fof motor MR which rotates the fixture or portion thereof mounting thetool a predetermined degree. Control of motor MR is effected by a limitswitch SWMR generating feedback signals as it becomes actuated by meansof a cam mounted on the shaft of the output of gear motor MR. SwitchSWMR provides feedback, uncounting pulses to the uncount input ofpredetermining counter controller PrCMR. Upon uncounting, controllerPrCMR generates a pulse which is transmitted to the stop control S ofmotor MR and to the start control F of motor or tool servo MT-1 which iscoupled to tool or power operative device T-1.

The output shaft of motor MT-1 is operative to actuate a limit switchSWMT-1 or operative for sensing the rotation thereof, which generates afeedback pulse and transmits same to the counter controller PrCMT-1which effects uncounting of said controller. Upon attaining its uncountcondition, controller PrCMT-1 generates a control pulse and transmitssame to the stop control S of motor MT-1. For certain fabrication,inspection or maintenance functions it may be merely required to operatethe tool, clamp or inspection device T, for a predetermined timeinterval or degree of movement thereof which will be substantially afunction of the number of rotations of the output drive shaft of thegear motor or servo MR.

In other production or maintenance functions employing apparatus of themachine or station 16-1 which is more complex in operation, it may bedesired to operate one or more additional servos, tools or inspectiondevices after tool T-1 has been operated. In FIG. 4 control means areprovided (1) for either reversing operation of each of the servos MR, Mzand Mx to cause the respective assemblies moved by each to return to ahome position, (2) for activating a further tool or tools T-1 or (3) foractivating one or more predetermining controllers MTC to control eitheror both the tool or transport drive motors in a predetermined cyclewhereby the tool or tools move through a predetermined path and operatein a predetermined manner at the location attained by means of thepositional control effected by the first portion of the command controlmessage.

Portions of the command control message may be operative to effect theselective operation of certain of the servo motors or power operateddevices to the exclusion of others by activating certain controlelements to the exclusion of others during a particular control cycle.For example, a single presetting pulse may be gated through switch 68(whereafter said switch steps to its next position) to any of thepredetermined controllers PrCMx, PrCMz, PrCMR, permitting operation ofthe respective servo controlled thereby for only one rotation orfraction of rotation of its shaft so as to result in little orsubstantially no movement of the apparatus driven thereby.

Turning now to the operation of predetermining controller PrCMT-1, theoutput of said controller on which the uncount control pulse is gated,is connected to inputs to a number of switching control elements orcircuits 57 a, 57 b and 57 c. These control circuits are logical ANDswitching circuits which are each operative to generate a pulse on itsrespective output when its two inputs are simultaneously energized.Accordingly, the other inputs to the AND control devices 57 a, 57 b and57 c are connected to respective further control elements or circuits 56a, 56 b and 56 c any one of which may be energized by a signal portionof the command control message gated thereto from a respective output ofthe rotary switch 68.

In their simplest form, the control devices 56 comprise a bi-stableswitch or flip-flop which is operative when energized by a signal passedto its input from switch 68, to gate a power supply (not shown) throughcontrol device 56 to energize the input to the AND switching element 57connected thereto until the predetermining controller having its outputconnected to the other input of said AND switching element, uncounts. Inother words, if it is desired to reverse the operation of motor MR aftermotor MT-1 has finished its cyclic function, control element 56 a willhave been activated by a signal portion of the command control messagegated through switch 68 thereto to the exclusion of the activation ofcontrol devices 56 b and 56 c as the result of the switching of 68 pastthe terminals of the switch connected to the inputs to 56 b and 56 cwithout gating signals through said switch thereto. If 56 a is soactivated, then when controller PrCMT-1 uncounts, the output thereofwill only activate AND switching element 57 a resulting in thegeneration of a control signal on the output of element 57 a which ispassed to the reverse control R of motor MR and the stop control S ofmotor MT-1. A time delay relay (not shown) may be provided in the circusbetween element 57 a and control R of servo MR to permit motor MT-1 tostop before the operation of MR, if necessary.

Thus, the output of AND switching circuit 57 a is utilized to pulse thestop control S of servo MT-1 to terminate the operation of the tool T-1powered or controlled thereby and is also utilized to drive motor MR inreverse to its home position which, when obtained, is operative toactivate a limit switch 59 engaging a portion of the fixture driven byservo device MR. Activation of switch 59 is operative to gate a controlpulse to the stop control S of motor MR and to the down drive control Dof servo Mz. Activation of control S of the servo MR is operative tostop said servo with the fixture driven thereby at its “home” positionwhile activation of D of servo Mz is operative to drive carriage 26 toits lowermost, “home” position on the track associated with the verticalcolumn assembly 25.

Upon attainment of said lowermost position by carriage 26, a furthercontrol limit switch SWZo mounted on either carriage 26 or verticalassembly 25 becomes actuated and gates a power supply or pulse to thestop control S of motor Mz and the reverse drive control R of gear motorMx resulting in movement of the assembly 20 to the “home” positiondefined by the track mounted pin 49 at which position limit switch 49′becomes activated and pulses the stop control S of motor Mx resulting instoppage of the assembly at said home position.

To include the predetermined operation of a further tool or poweroperated device T-2 in the hereinabove described cycle or to performfurther predetermined operations including movement of tool or deviceT-1, the command control message will have been so composed as to havepulsed or activated certain of the other control elements 56 b, 56 c, 56d, etc. For example, if the command control message is operative topulse control switch 56 b gating a power supply to the AND switchingcircuit 57 b to the exclusion of circuit 57 a, then, when controllerPrCMT-1 uncounts, a signal will be generated on the output of ANDcircuit 57 b which is passed to the forward drive control F of areversible gear motor MT-2 thereby causing motor MT-2 to drive tool ordevice T-2 in a first direction. The output of AND circuit 57 b is alsopassed to a resetting or deactivating input of control switch 56 b so asto deactivate same once its function has been fulfilled as are theoutputs of each of the other illustrated AND switching circuits.

In other words, when control switches 56 are so deactivated, the powersupply gated to their respective AND switching elements are no longerconnected thereto. A feedback signal generating switch SWMT-2 is coupledto operate with rotation of the output shaft of servo MT-2 by means of acam or other switch energizing device mounted on said shaft and providesfeedback pulses to the predetermining counter controller PrCMT-2. Uponuncounting, PrCMT-2 generates a pulse on its output which activates thestop control S of motor MT-2 and is also utilized to energize either thedown drive control D of motor Mz if the tool operating portion of thecycle is to end at this point. However, if it is desired to effectfurther movement and/or operation of one or more of the power operatedtools or devices, the output of PrCMT-2 may be utilized to activate apreset controller MTC such as a multi-circuit timer having a pluralityof output circuits which extend to those of the illustrated motor start,stop and reverse controls which are desired to become activated insequence and at predetermined time delays after the initial energizationof controller MTC to perform the desired operation of the describedapparatus.

While the multi-circuit controller MTC may be preset or predetermined inits function by a portion of the command control message, it may also bemanually preset to perform a predetermined production operation and maycomprise but one of a plurality of such cycle controllers which areoperative only when a control switch 56 d therefor is activated by aportion of the command control message and energizes an input of an ANDswitching circuit 57 d having its other input extending from the outputof controller PrCMT-2.

In order to prevent activation of the down drive control D of servo Mzwhile the cycle controller MTC is activated, one of the outputs 71 ofcontroller MTC is connected to the switching input of a normally closedswitch 70 in the circuit between PrCMT-2 and the down drive control D ofmotor Mz to effect the activation of switch 70 and the opening of saidcircuit so as not to permit the control pulse generated by PrCMT-2 toenergize D of motor Mz. A time delay relay 69 located between the outputof PrCMT-2 and D of servo Mz delays the pulse a sufficient interval sothat it will appear at the input to switch 70 after said switch hasopened. If switch 70 remains closed in the event that controller MTC isnot activated, said pulse will be passed directly to D of servo Mz toeffect the termination of the work cycle whereafter the carriage 26 isdriven to the lower (or upper) home position resulting in the activationof control limit switch SWZo which stops carriage 26 at said positionand activates the reverse drive control R of motor Mx resulting in thereturn of the tool carriage assembly 24 to the home position defined bypin 49 on track 22.

In the control functions described employing the reproduction ofrecorded command control messages to preset or energize controls ofvarious predetermining controllers, operation of the multiple channel,endless track magnetic recorder recording medium was assumed to becontinuous so as to permit the recording of new control messages whilemessages already recorded thereon are being reproduced. If a completecommand control message is recorded on a single channel of themulti-channel recorder and is utilized as described to preset various ofthe predetermining controllers, the correct portions of said message maybe gated to the correct predetermining controller inputs P by theprovision of a normally open switch 68S in line 66′ which will not passany portion of the command message destined for the controllers situatedbeyond switch 68 until the appearance of the leading portion of themessage one line 66′ which contains a tone or code operative to energizerelay CR3. Switch 68S is operatively coupled to CR3 and is closedthereby when the latter is energized and remains closed for a sufficienttime interval to pass the longest messages to be gated to the variouscontrollers situated beyond switch 68. In other words, switch 68S iseither slow to open after closing or may be operative to close as abi-stable switch by a portion of the control message gated therethrough.Switch control CR3 as well as the others are assumed to contain, inaddition to activating means responsive to respective codes or tones,means for activating the various rotary switches and gates illustratedin FIG. 3 upon receipt thereby of the proper tone or code.

In FIG. 3, a coded relay CD is operative to start drum drive motor MDwhich is preferably a constant speed motor. Relay CD may be activated byeither a code or tone portion of the command control message or onegenerated by an operator at the computer station 50.

While motor MD preferably operates at constant speed to permit therecording of certain messages while others are being reproduced and usedfor control purposes, it may also comprise a stepping motor operative inresponse to a coded or tone responsive relay energized by portions of acommand control message or signals generated on the outputs ofpredetermining counter controllers PrCMx, PrCMz, PrCMR, etc. and MTC.Thus, portions of a command control message are reproduced sequentiallyonly after the previously reproduced portions have been operative topreset or energize the previously controlled mechanism.

Notation MR in FIG. 3 may also be representative of any motor adapted toeffect operation of the tool transport in a mode other than those modescontrolled by motors Mx and Mz. It may comprise a joint rotating motoror one used to project and retract the tool. It may also define servomeans for controlling other fixture or tool variables.

In FIG. 3, each of the predetermining counter controllers PrCMx, PrCMz,PrCMR, PrCMT, and PrCMT-2 has an input R, which, when pulsed, isoperative to reset the counter to a null condition.

A code or tone responsive relay CR-6 has its output connected to all ofthe resetting inputs R of the PrC controllers and MT-2 and its inputconnected to the input side of the switch of relay CR-1. If it isdesired to reset the controllers for any reason prior to theiroperation, such function may be effected by transmission of the propercodes or tones from station 50 to the receiver 62 for energizing relaysCR-1 and CR6.

In FIG. 3, the fixture and carriage locking solenoids 32 and 30 s whichhave been described as to function, are advanced to engage and retaintheir assemblies against the respective surfaces by the uncount pulseproduced on the output of PrCMz and are each retracted by the controlpulses generated respectively on the outputs of switches 70 and SWZo todisengage their retain members at the end of a work cycle.

The command control signal recording and reproduction apparatushereinabove described may be modified to include operation where certaintracks of the recording drum 65 are adapted to receive and recordcommand control messages transmitted from computer 54 while other trackscontain recordings already provided thereon by locally recording same orother means and operative to effect predetermined movements andoperations of the tool or device associated with the machine beingcontrolled.

In the control function where recordings are transmitted from station 50and recorded on selected or sequentially available tracks of therecorder 64, automatic signal erasure means may be employed to eraseeach command control message after it has been reproduced therefrom orduring the recording of a new message on the same track. To retaincertain signal recordings such as those which may be immediately orshortly thereafter reused for repeating a particular controlled action,erasure control may be effected by use of a tone responsive or codedrelay gating a power supply to an erasure means such as a head riding onthe track just reproduced from, said coded relay being connected toreceive the control message and respond to that tone or coded portionthereof to which it is responsive.

A rotary stepping switch 67 in FIG. 3 is operative to connect a powersupply PS with an erase head EH which is riding against the track justreproduced from, when a coded relay CR5 is activated by a portion of themessage reproduced therefrom to effect the last mode of control. Theactivation of switch 49′ signifying the end of a cycle controlled by aparticular command message may also be operative to result in erasure ofthe channel from which said message was reproduced by connecting saidswitch 49′ to activate CR5 or the solenoid controlled thereby.

In another form of the invention, the described digital or pulse trainrecordings which are reproduced as part or all of the command controlmessages from magnetic drum 65 may be replaced by a plurality of analogtype signals which are operative upon being reproduced from therecording member to directly control the movement of one or more of thedescribed fixture or tool motors. The analog signals may be transmittedfrom control console 50 or prerecorded on selected channels of drum 65and reproduced when needed as the result of the action of one or moresignals transmitted from console 50 and operative to effect theselective and sequential reproduction of said analog signals to define aparticular control cycle.

In other words, apparatus of the type described may be operative bycontrolling one or more servo motors by signals recorded on selected andpredetermined of the recording channels of the drum 65 which areselectively reproducible therefrom under the control of signalstransmitted to the receiving means 62 of the selected station 16 fromthe computer or other device 54 or the manual signal generating means51. Assuming that there are n number of predetermined operations whichthe machine at station 16-1 may perform or be required to perform over agiven time interval or to cover all possible production, maintenance andinspection functions, then a similar number of command control messagesor analog signals would be recorded on known locations of the recordersuch as on known tracks of the drum 65 and each would be selectivelyreproducible therefrom by transmitting the desired signal or signals tothe receiver 62-1 to effect, as described, the stepping of switch 66 toconnect its output 66′ with that pickup head PU which is operativelycoupled to reproduce from the channel or track of the drum 65 having thedesired command control message recorded thereon.

For certain fabricating, inspection or maintenance functions utilizingthe apparatus hereinabove described it may be desired to perform aplurality of prepositioning movements of the tool or power operateddevice in the vicinity of the particular working location at which itwas initially positioned by movement of the carriage 30 along guide ortrack 22 and carriage or fixture 26 vertically relative to track 25. Forexample, it may be desired to step the tool, once located at aparticular spacial location in a particular direction or directions toperform a plurality of operations relative to a workpiece locatedthereat. The functions of drilling a plurality of holes in a line or inany predetermined array, applying a plurality of fasteners or assemblingcomponents with the workpiece in spaced-apart relationship, stepping apower operated device such as a welding tool, inspection tool, or thelike may be required whereby return of the tool transport assembly 24 tosaid home position each time the tool operates would result in the wasteof a substantial amount of time. Accordingly, means are provided in FIG.4 for modifying the control apparatus of FIG. 3 to permit any of thedescribed tool positioning and/or operating servo motors to operate aplurality of times during a single cycle to perform predeterminedoperations on a workpiece in the realm of the tool or tools positionedby said transport means.

While means are provided in FIG. 4 for automatically controlling thepredetermining controller PrCMx in a manner to be described, a pluralityof said controllers including others thereof as described may besimilarly controlled in sequence in a predetermined cycle as defined bythe composition of the command control message passed through switches66 and 68. The pulse presettable predetermining counter PrCMx is presetby a portion of a first of the command control messages reproduced froma first channel or track of recording member 65.

Feedback signals generated by motor Mx uncount PrCMx and result in afirst control signal being generated on the output of PrCMx uponattaining its uncount condition. Said signal is transmitted to the stopcontrol S of servo Mx and to an AND switching circuit 57 e. The otherinput to 57 e is connected to the output of bi-stable switch 56 e havingan input which is one of the outputs of rotary control switch 68. Thecontroller switch 56 e preferably comprises a bi-stable switch operativewhen energized by a pulse portion of the command control message passedthrough 68 thereto, to gate a power supply PS or continuous signal to aninput of AND switching curcuit 57 e until an output control signalappears on the latter.

Thus, if the command control message is so constructed as to activate 56e, uncounting of PrCMx will result in a signal generated on the outputof the AND switching circuit 57 e which is passed to the tone or codedrelay CR-4 controlling the position of the switching element rotarystepping switch 66. The command control message recorded on the nextchannel of recording drum 65 which is coupled to output line 66′ orswitch 66 is passed therethrough and is operative to step switch 68 byactivating coded relay CR-3 the correct number of times prior to thepassage of a pulse code or train to PrCMx again and a signal to thestart control F of servo Mx the reverse control thereof forrepositioning carriage 30 and the tool thereof in a horizontaldirection. Upon uncounting, PrCMx may be operative to perform any of thecontrol functions hereinabove described which may include operation ofone or more of the power operated tools or devices.

In a similar manner, any of the other predetermining controllers PrCMz,PrCMR, PrCMT-1, PrCMT-2, etc. may be controlled in a predeterminedmanner to step the tool in any direction, cause it to travel apredetermined path, and/or predetermine its intermittent or continuousoperation.

A second AND switching control circuit 57 e′ and flip-flop controller 56e′ therefor are shown operatively connected to the output of PrCMx andswitch 68 respectively for controlling the operation of any of the otherservo motors described for positioning and/or operating the tools in themanner described. For example, assuming that the command control messagedoes not contain a command portion to be passed through switch 68 to theinput of 56 e but does contain a portion which will be passed to 56 e′when the arm of switch 68 is operatively coupled to the line or terminalthereof which is connected to 56 e′. As a result, that servo or poweroperated device which is connected to the output or circuit 57 e′ willbecome activated upon the uncount of PrCMx and may be controlled asdescribed by generating feedback pulses with its operation which are fedto a respective predetermined controller.

In FIG. 2′, control elements 117 and 118 in the form of limit switchesor surface sensing devices were shown mounted on portions of the toolhead or mount and were defined as operative to sense the surface of aworkpiece towards which the tool is transported and to effect furthercontrol of the movement of the tool upon becoming activated. Amodification to the control system of FIG. 3 is illustrated in FIG. 5 inwhich limit switches 117 and 118 are illustrated as forming part of thecontrol circuitry. It is, of course, assumed that in FIGS. 4 and 5, theother elements of the circuit not illustrated therein are provided inFIG. 3 and are present and are modified accordingly.

Limit switch 117 is assumed to be operative to sense vertically disposedsurfaces of the workpiece represented by the notation W1 and limitswitch 118 is operative to sense horizontally disposed surfaces of theworkpiece located below the tool which, in this modification, is movabletowards the workpiece from above. Either or both switches 117 and 118may be operative to preposition the tool relative to the workpiece.Assume that the tool is first being moved in a horizontal direction byoperation of motor Mx and that limit switch 117 is so positioned thatits actuator arm or sensing element will first engage a vertical orsubstantially vertical surface of a workpiece or other member adapted tobe operated on or scanned by the tool. The motor Mx is first started bya portion of the command control message passed through switch 68 whilethe predetermining controller PrCMx has remained deactivated as theresult of failure to receive presetting signals as a portion of thecommand control message. It is, of course, assumed that the tool or toolarm having switch 117 mounted thereon has previously been positioned ata desired vertical location by the predetermined operation and controlof motor Mz. Upon approaching said vertical surface, the switch 117becomes activated as the result of engagement of its actuator armagainst the surface W1 of the workpiece or other element mounted in itspath of travel. Closure or activation of switch 117 results in thegeneration thereby of a pulse signal and its transmission to the stopcontrol S of motor Mx and one input of an AND switching circuit 57 f.The other input to 57 f is from a flip-flop controller 56 f having aswitching input connected to rotary stepping switch 68 and operative tobecome activated upon transmission thereto of a portion of the commandcontrol message.

Thus, if the command control message is operative to activate 56 f, uponthe activation of switch 117, motor Mx will stop and a pulse generatedon the output of 57 f will be transmitted to the relay CR-4 for steppingswitch 66. As a result, the next command control message recorded on thedrum 65 is reproduced therefrom and passed through switch 66 and gatesportions of itself to those predetermining controllers and/or servomotor controls defined for cyclic operation in said next reproducedcommand control message. Similarly, if switch 118 is activated when itis driven against horizontal surface W2 by movement of the transportapparatus, it will generate a pulse on the output of AND switchingcircuit 57 f provided that 56 f has been energized by a portion of thecommand control message and will result in the generation of a newcommand control message for further controlling selected of the servomotors described.

Other features of the invention are noted as follows.

As stated, the tool transport fixture may be provided in a variety ofmachine configurations and may be floor, overhead, wall or machinemounted or movable on guide means secured to a plurality of suchlocations. Various configurations for such tools and fixtures areillustrated in my said abandoned application and vary from a singlecolumn subtending from an overhead track travelling carriage and havinga tool such as a spray head or scanner mounted on an arm supported by avertically movable fixture to one or more tools movable at the end of anarm or assembly which is movable in a plurality of ways by pivoting,rotating, projecting, retracting and otherwise moving portions of thefixture with respect to each other and the carrier or mount supportingthe entire assembly.

Each assembly or movable portion of the entire tool transport fixturemay be power operated to rotate and/or translate by means of one or moreservo motors coupled thereto through gears or other drive means andmounted on said assembly or the adjacent assembly. Sequential control ofthe various servo motors to effect eventual prepositioning of the toolor tools as described or by modification to the control apparatushereinabove provided. Such modifications may include the following whichare intended to comprise part of this invention.

Signals reproduced from an erasable recording medium such as themagnetic recording drum 65 may be sequentially gated directly to thecontrols of one or more of the illustrated and described servo motorsused to position the fixture, tool and/or to operate said tool in apredetermined and programmed manner. Said signals may be utilized per seor generated as part of the described command control message to effectat least part of the control functions described by direct control ofthe servo coupled to the reproduction transducer reading drum 65. Inother words, predetermining controllers PrC and MTC may be eliminatedcompletely during a control cycle where the precision required in theoperations of the apparatus is such that feedback signals are notrequired and the operations of the servo motors employed may becontrolled by the duration or composition of the signal or signalsreproduced from the recordings temporarily provided on number 65 bytransmission thereto as described.

A combination of fixture positional control effected by one or morepredetermining controllers as described and direct control of the tooloperation itself by one or more signals reproduced directly from thedrum 65 and transmitted directly to the motor or motors to be controlledin operating the tool, may be utilized for certain operations. This maybe variably effected by operatively connecting those servo controlswhich are to be controlled by signals reproduced directed from the drum65, to selected of the outputs of switch 68 which may be coupled toselected channels of drum 65 by signals reproduced from recordings onother channels. In other words, a command control message for aparticular cycle is recorded on several channels and the latter portionsof the message recorded on one channel are used to effect switching ofoutput 66′ of switch 66 to the next channel by energizing relay CR4which activates solenoid S3 to switch 66 to the next position.Accordingly, line 66′ is shown connected to the input circuit 68′through rotary switch 68 to relay CR4 so that if the proper tone or codeappears on the output of switch 66 as reproduced from one channel, CR4will become activated and will switch 66 to the next channel thereofwithout the need for first stepping switch 68.

FIG. 6 shows details of a portion of an automatic production system 74which includes a plurality of remotely controlled machines of the typedescribed or modifications thereof and conveying means for work inprocess disposed adjacent to the line of machines. A production line isdefined in FIG. 6 which includes a centrally disposed power operatedconveyor 75 such as a belt conveyor driven by motor MC, flight conveyoror chain conveyor operative to carry individual units of work, three ofwhich are illustrated and defined by notations W-1, W-2 and W-3, past aplurality of production machines 16 defined by notations 16-1 to 16-9.

FIG. 6 discloses means for guiding a plurality of production machinesadjacent to both sides of the conveyor 75.

Such guide means includes overhead and/or floor mounted guideways ortracks of the type heretofore described and defined by notations 22-1and 22-2. Movable along track 22-1 are a plurality of self-propelledmachine assemblies denoted 16-1 to 16-5 while two such self-propelledproduction machines 16-6 and 16-9 are illustrated as movable along thetrack or guideway 22-2 for performing on work from the other side of theconveyor 75. A complete production line may include a substantial numberof additional self-propelled machine tools, inspection machines and, incertain instances, automatic manipulators for handling, aligning, andtransferring. If necessary, prepositioning work in process is derivedfrom the conveyor 75 or auxiliary conveyors adjacent thereto forperforming one or more operations thereon in cooperation with machinetools, inspection devices and other equipment mounted for travel alongthe track 22-1 and 22-2 or auxiliary machinery positioned adjacentthereto.

The apparatus illustrated in FIG. 6 may be operated in a number ofmodes, several of which are illustrated in the drawing. A first workpiece W-1 is located on the conveyor 75, and a first machine 16-1, whichis self-powered to move along the track 22-1, is disposed in alignmentwith work W-1. In a first mode, the machine or tool 16-1 may be drivenalong the track 22-1 until it senses either end of the work W-1 or apallet or container supporting said work on the conveyor. Detection maybe effected by use of a scanning device such as the photoelectricdetector 35 of FIG. 2, the limit switch means 117 of FIG. 2′ or suitabledetection means mounted on the tool assembly or tool head as illustratedin FIGS. 2 and 2′. The detection signal is transmitted as a feedbacksignal to initiate operation of the automatic controller or computer MTCshown in FIG. 3′ as controlling the operation of the tool 16-1 bypredeterminately controlling the motors operating said tool and the toolthen performs preprogrammed operations on the work piece W-1. In oneform of this operation, the work may be moving at constant speed onconveyor 75 while the signals controlling the operation of the tool 16-1are so composed as to move the tool along with the moving work and causeit to exercise said preprogrammed operations while the tool is moving toaccount for the movement of the work. In a second mode of operation, thedetection signal is also operative to stop the conveyor 75 or theremotely located command signal generator or controller is programmed,not only to effect predetermined operation of the tool but also stoppageof the conveyor 75 so that the work W-1 may be operated on by the toolwhile said work is stationary on the conveyor.

In the third mode of operation, a work piece W-2, which isself-supported or supported by a carrier or pallet WP on the conveyor75, is transmitted to a temporary work station 76-2 by means of atransfer device 72-2 located adjacent the work station and operative topush or otherwise carry the work into the temporary work stationplatform. The automatically controlled machine tool 16-2 is eitherprepositioned at the work station 76-2 as a result of its previousmovement thereto or is driven to the work station under the control ofsignals generated by a computer or controlled command message generatorof the type illustrated in FIG. 3. Alignment of the tool 16-2 withrespect to the work W-2 may be effected by scanning alternate switchmeans detecting a marker or other suitable locating means at the workstation 76-2 or by detecting the work itself or its supporting pallet.When the preprogrammed operations are completed by the machine 16-2 onthe work W-2, said machine or another machine such as an automaticmanipulator, which is drivable along either track 22-1 or track 22-2, isoperated by the same computer and is operative to lift or otherwisetransfer the work to the conveyor 75 for movement to the next station.

A fourth mode of operation of the apparatus of FIG. 6 involves theautomatic control of a plurality of machines or tools, four of which areillustrated and denoted by notations 16-3, 16-4, 16-5 and 16-9 and allof which are remotely controlled, as described, to perform differentoperations on the same work piece W-3. The work piece W-3 may comprise alarge unit of work such as a casting requiring multiple operationsthereon which may be simultaneously performed or may comprise anassembly of elements forming a product or a product subassembly. Thetools 16-3 to 16-6 may comprise one or more power-operated devices forperforming such operations as drilling, tapping, assembling screws orother fasteners, welding, spraying, assembling parts or sub-assemblieswith the work W-3, inspecting, plating, spraying, deburring, etc. Saidtools may perform such preprogrammed operations from either or bothsides of the conveyor 75, as certain of the tools are operative to movealong and be positioned with respect to the track 22-2, while othersoperate on track 22-1 from the other side of the work W-3. Here again,the multiple tools may be programmed to operate on the work W-3 whilesaid work is stationary on the conveyor 75 or adjacent thereto or whilesaid work is in motion with the tools performing their operations whileaccounting for the work movement by relatively moving along the guideways 22-1 and 22-2 with the work.

The work stations 76 may contain auxiliary means for manipulating thework with respect to the tool to present different portions of the workto the tool head or automatically controlled manipulators forming someof the tools 16 may be operative along the track ways 22-1 and 22-2 toseize and vary the attitude of the work or hold same during theoperation of one or more tools located on the same or opposite track wayto perform preprogrammed operations on the work.

If the conveyor 75 is controlled by a computer which also controls theoperations of the various tools and the loading of units of work ontosaid conveyor, then the location of any particular unit of work on theconveyor will be a known factor during any interval in a work cycle and,accordingly, the proper distribution of command control messages to thedifferent machine tools may be effected by properly timing the entireoperation and operating the remote computer or message generator bysequentially reproducing, generating and transmitting the desiredcommand control messages at predetermined time intervals to control therespective machine tools as described.

FIG. 7 illustrates a modified form of automatic production system 74embodying, in addition to the features found in FIG. 6, the provision ofa bridge crane assembly 78, which is supported for movement above andparallel to the conveyor 75 and contains one or more carriages, one ofwhich is shown, at numeral 80, adapted with tooling and/or work handlingmeans for performing operations on work carried by said conveyor 75. Thecrane apparatus 78 may be used to perform a number of functionsincluding, in addition to supporting and positioning power-operatedtooling such as power-operated drills, riveters, inspection devices, andother tooling below the carriage 80 thereof to locate said tooling abovethe work for operating on the top wall and upper portion of the work,such other functions as picking up the work and transferring it to afixture or platform adjacent the conveyor 75 or to another conveyor,turning said work around or assembling it with other work, feeding partsor subassemblies to the work or holding and repositioning the work withrespect to other tooling such as the track travelling tools 16-1 and16-6 illustrated. The crane and tooling or handling manipulator ofassembly 78 may be operated in an automatic mode under the control ofthe master controller or computer controlling operation of the othertooling and/or may be controlled by preprogrammed means located on thebridge crane when a detection means 81 located on the bridge 79 of thecrane 78 or on the structure depending downwardly from the carriage 80scans and detects work travelling along the conveyor 75.

In a particular form of the apparatus shown in FIG. 7, it is noted thatone or more bridge cranes such as 78 for supporting tooling and/ormanipulation means for performing on work along the production line anda plurality of the described track travelling tools 16 of the typedescribed may all be operative to travel and be supported by the samebi-rail trackways denoted 22-3 and 22-4 in FIG. 7, and the cranes 78 maybe so mounted as to permit said cranes to bypass the tools 16 to operatealong any selected length of the production line.

FIG. 8 illustrates details of a portion of the overhead conveyingapparatus of FIG. 7, including one of the trackways 22-3, productiontool 16-6 suspended therefrom and bridge crane 78 movable therealong.The trackway 22-3 comprises an overhead supported I-beam 82, the lowerflange 83 of which is adapted to support and guide the wheels 85 of thecarriage 86 of the tool 16-6, which tool may embody the features shownin FIGS. 2, 2′ and 2″ or modifications thereof. Secured to the upperflange 84 of the I-beam is a rail 86 having a V-shaped channel in itsupper surface. Riding in the V-shaped channel in 86 and guided therebyare the wheels 81 of the bridge crane 78. The rail 86 may also comprisean integral portion of the I-beam or may be replaced by a groove orV-shaped channel in the upper flange thereof. A similar rail or channelformation in the other trackway 22-4 may serve to support and guide thewheels supported by the other end of the bridge crane 78 so that asingle pair of I-beams may define the trackways 22-3 and 22-4 andsupport both the monorail travelling tools 16 and one or more bi-raildevices 78 or bridge cranes defining the automatic production system orline 74′. It is noted that the bridge crane 78, if suspended as in FIG.8, and if the carriage or tool assembly 80 suspended therefrom iscentered on the cross-track 79 thereof, may travel past the tools 16suspended on either or both trackways to transport or perform on work atany location along the line without colliding with any of the tools ormachines provided adjacent the conveyor. Accordingly, the bridge crane78 may serve to transport work or assemblies from machine to machine orto select machines for effecting operations thereon. In certaininstances a plurality of cranes 78 may be used to supplement or replacethe conveyor 75 and may travel the entire length of the line or transferfinished work from the line.

The apparatus hereinabove described is subject to a number of variationsand improvements noted as follows:

-   -   I. One or more branch conveyors may extend from the main        conveyor for the work for either temporarily holding work in        process until a machine tool or tools are available to perform        preprogrammed operations thereon or for conveying work past a        plurality of other machines disposed adjacent said branch        conveyors The branch conveyors may comprise flight conveyors        similar to the main conveyor and onto which work is selectively        shuttled by means of ram type transfer devices as in the same        way work transfer units 72, 72-2, 72-3 shuttle workpieces onto        respective work platforms 76, 76-2 and 76-3 as is evident in        FIGS. 6 and 7. Branch conveyors may also comprise overhead power        or power and free conveying means or monorail travelling cranes        operative to pick up and carry units of work from the main        conveyor or from branch gravity chutes or platforms extending        therefrom. The units of work may comprise work per se or work        mounted on pallets or carriers. Command signals operative to        effect transfer of work or pallets to said branch conveyors may        be generated by a computer which keeps track of each pallet or        work unit disposed on the main conveyor by receiving signals        indicative of the main conveyor's speed and computing each        pallet's location or by codes provided on each pallet at each        branch conveyor location which are effective in operating        selected of the transfer machines.    -   II. A single master controller or computer may be operative to        control the shuttling of each work holding pallet WP not only to        each machine located adjacent the main conveyor but also the        operation of each machine after it has controlled the movement        of the pallet to the machine and its locking securement at its        respective work platform 76, 76-1, 76-2 and 76-3 as shown in        FIGS. 6 and 7.    -   III. A bridge crane 78 of the type described travelling the        monorails 22-3 and 22-4 at the sides of the main conveyor 75 may        contain, in addition to or in place of, one or more machine tool        heads for working on work or work assemblies 80 disposed        therebeneath either on the main conveyor or on a platform or        branch conveyor adjacent thereto, may have a work seizing means        such as manipulator jaws for picking up and manipulating work or        components of work or may have work assembly means extending        therefrom to permit said crane to pick up work and/or machines        or machine components disposed therebeneath and transfer or        preposition same with respect to the conveyor, machine tool or        work disposed in the vicinity thereof. The operation of the        bridge crane 78, its tool or tools and/or its manipulator        depending therefrom may be controlled by signals generated in        reading codes on a work holding pallet which codes are        formulated to predeterminedly control said manipulator or tool        or by signals generated by the described master controller or        computer controlling either the entire production system, a        particular tool or group of tools or the conveyor and crane or        cranes disposed adjacent thereto.    -   IV. The described monorails disposed at both sides of the main        conveyor 75 of FIGS. 6–8, may support, in addition to the        described machine tools, one or more carriages mounting one or        more article manipulators of the types defined in my U.S. Pat.        Nos. 3,272,347 and 3,259,958 which are automatically controlled        by computer and/or by signals generated in reading codes        provided on work holding fixtures or pallets to perform such        operations as manipulating and handling the pallets, units of        work held by the pallets, work components to assembly same with        the fork held by the pallets, inspection devices, machine tools        and tool components such as cutters to be assembled to the tool        or tool holder or worn or broken cutters to be removed        therefrom. In the latter function, signals generated by the tool        controller or master controller or computer may operate the        manipulator to seize and release cutting tools or other devices        either from the tool itself, a tool changer or a carrier        therefor located on the conveyor 75 or a supply rack adjacent        said conveyor.    -   V. Communication between a master controller or computer and the        machine tools 16 provided adjacent the conveyor 75 as well as        the described cranes and manipulators may be effected by radio        or short wave, micro-wave communication means or by means of        modulated light waves such as generated by lasers located at the        computer and machine tools. Photoelectric detection receiving        means may be disposed at each machine tool to receive modulated        light beams such as pulsed beams modulated with commands which        are transduced to pulse trains or frequency code signals and        stored in relay storage at the tools for controlling the        execution of programmed operations on the work disposed adjacent        each tool. Two way communication by similar transmitting means        at each tool to the master controller or computer may be        effected to provide feedback information of the operation of the        tools to the computer which may adaptively or otherwise adjust        its output to control the tools accordingly.

1. The process of producing engineering components from workpieces bythe removal of material therefrom by means of a plurality ofdata-controlled machine tools, each of which has automatic means forlocating and securing thereon a common workpiece holder, said machinetools being complementary to each other in relation to the machiningoperations to be carried out on the workpieces; said process comprising:securing each workpiece to a workpiece holder in a predeterminedposition and attitude with respect to the workpiece holder, deliveringeach workpiece holder to storage means and storing each workpiece holderso that each workpiece is selectively accessible; selecting eachworkpiece holder from said storage means; presenting each of saidselected workpiece holders to a selection of said machine tools inpredetermined sequence; automatically and sequentially locating andsecuring each of said selected workpiece holders at a predeterminedlocation and attitude in each of said selected machine tools andsubsequently performing programmed machining operations on saidworkpiece in each of said selected machine tools while said workpieceholder is so located and secured therein.
 2. The process of producing aplurality of different engineering components from workpieces ofdifferent forms by the removal of material therefrom by means of aplurality of data controlled machine tools, each of which has automaticmeans for locating and securing thereon a common workpiece holder, saidmachine fools being complementary to each other in relation to themachining operations to be carried out on said workpieces; said processcomprising: securing each workpiece to a workpiece holder in apredetermined position and attitude with respect to the workpieceholder, delivering each workpiece holder to storage means and storingeach workpiece holder so that each workpiece is selectively accessible,selecting each workpiece holder from said storage means, presenting eachof said selected workpiece holders to selected of said machine tools inpredetermined sequence, the sequence for each form of workpiece beingdifferent, automatically and sequentially locating and securing each ofsaid selected workpiece holders at a predetermined location and attitudein each of said selected machine tools and subsequently performingprogrammed machining operations on each of said workpieces in each ofsaid selected machine tools while the respective holder is so locatedand secured therein.
 3. The process of claim 2 wherein the act ofstoring each workpiece holder so that each workpiece is selectivelyaccessible comprises storing each workpiece holder so that eachworkpiece is selectively accessible independently of other workpieces.4. The process of producing a plurality of different engineeringcomponents from workpieces of different forms by performance ofoperations thereon by means of a plurality of data-controlled machinetools each of which has automatic means for locating and securingthereon a common workpiece holder, storage means having a plurality oflocations for workpieces stored thereon so that each workpiece isselectively accessible, transport means, and programmable control means,said machine tools being complementary to each other in relation to theoperations to be carried out on said workpieces; said processcomprising: securing each workpiece to a workpiece holder in apredetermined position and attitude with respect to the workpieceholder, selecting each workpiece holder from a location on said storagemeans; transporting each selected workpiece holder by said transportmeans between said storage means and at least one preselected machinetool, automatically and sequentially locating and securing each of saidworkpiece holders at a predetermined location and attitude in each ofsaid selected machine tools, and subsequently performing programmedoperations on each of said workpieces in each of said selected machinetools while said workpiece holder is so located and secured therein, theoperating sequence performed by said storage means, transport means andmachine tools, including selecting, locating and securing workpieceholders, being under the control of said control means, the operatingsequences of different workpieces, under the control of said controlmeans, being different.
 5. The precess of producing engineeringcomponents from a plurality of batches of different forms of workpiecesby means of a machining system comprising a plurality of machine toolscapable of performing different machining operations and adapted to usea series of selected tools, storage means for storing a plurality ofworkpieces so that each workpiece is selectively accessible, transportmeans to transport workpieces between a succession of said machinetools, and programmable control means, each batch comprising a pluralityof workpieces requiring substantially the same machining operation andthe workpieces of different batches requiring different machiningoperation; said process comprising: mounting each workpiece on a palletadapted for locating said workpiece at each of said machine toolsrequired for machining said workpiece; locating each pallet-mountedworkpiece on said storage means so that each pallet-mounted workpiece isselectively accessible; selecting each of said pallet-mounted workpiecesfrom said storage means and transporting each of said selectedpallet-mounted workpieces by said transport means to at least a selectedone of said machine tools, selecting and mounting required tools in eachof said selected machine tools and machining said pallet-mountedworkpieces at each of said selected machine tools; monitoring thelocation of each workpiece during the various stages of its transportingand machining sequence by periodically entering into said control meansinformation relevant to each of said workpieces; and dismounting eachmachined workpiece from its associated pallet after completion of saidtransporting and machining sequence; the operating sequence of storing,transporting and machining steps, including said selecting step, foreach pallet mounting workpiece being under the control of said controlmeans, the pallet-mounted workpieces of different batches beingcontrolled to follow different sequences.
 6. The process of producingengineering components from a plurality of batches of different forms ofworkpieces to form machined products by means of a machining systemcomprising a plurality of machine tools capable of performing differentmachining operation, storage means adapted for storing a plurality ofworkpieces so that each workpiece is selectively accessible, transportmeans to transport selected of said workpieces on said storage meansbetween said storage means and said machine tools, and programmablecontrol means, each batch comprising a plurality of workpieces requiringsubstantially the same machining operations and the workpieces ofdifferent batches requiring different machining operations; said processcomprising: delivering each workpiece onto said storage means forstorage so that it is selectively accessible; selecting and transportingeach workpiece in turn by said transport means from said storage meansto one of said machine tools for performance of a first machiningoperation; transporting said selected workpiece by said transport meansback to said storage means after the completion of said first machiningoperation for storage so that said selected workpiece is selectivelyaccessible; transporting said selected workpiece by said transport meansto a further one of said machine tools for the performance of a secondmachining operation thereon; and transporting said selected workpiece bysaid transport means back to said storage means after the completion ofsaid second machining operation; the operating sequence of storage,transporting and machining steps unique for each workpiece, includingsaid selecting step, being under the control of said control means, theworkpieces of different batches being subjected to a differentpredetermined sequence of storage, transporting, and machining steps. 7.The process of producing engineering components from a plurality ofbatches of different forms of workpieces by means of a machining systemcomprising a plurality of machine tools capable of performing differentmachining operations, storage means adapted for storing a plurality ofworkpiece so that each workpiece is selectively accessible, andprogrammable control means adapted to control each machine tool, eachbatch comprising a plurality of workpiece requiring substantially thesame machining operations and the workpieces of different batchesrequiring different machining operations; said process comprising:delivering each workpiece to said storage means and storing eachworkpiece so that it is selectively accessible; select and transportingeach workpiece in turn from said storage means to one of said machinetools for the performance of a first machining operation thereon;transporting said selected workpiece back to said storage means afterthe completion of said first machining operation; transporting saidselected workpiece to a further one of said machine tools for theperformance of a second machining operation thereon; and transportingsaid selected workpiece back to said storage means after the completionof said second machining operation; the operating sequence of storage,transporting and machining steps, including said selecting step,applicable to each said workpiece being under the control of saidcontrol means, the workpieces of different batches being subjected to adifferent predetermined sequence of storage, transporting and machiningsteps.
 8. The process of producing engineering components from aplurality of batches of different forms of workpieces by means of aplurality of machine tools capable of performing different operationsupon the workpieces, storage means adapted for storing a plurality ofworkpieces so that each workpiece is selectively accessible, andprogrammable control means adapted to control each of said machinetools, each batch comprising a plurality or workpieces requiringsubstantially the same operations to be performed upon them by saidmachine tools, and the workpieces of different batches requiringdifferent machine tool operations; said process comprising: deliveringeach workpiece onto said storage means and storing each workpiece sothat it is selectively accessible; selecting and transporting eachworkpiece from said storage means to one of said machine tools for theperformance of a first machine tool operation thereon; transporting saidselected workpiece back to said storage means after the completion ofsaid first machine tool operation; transporting said selected workpieceto a further one of said machine tools for the performance of a secondmachine tool operation thereon; and transporting said selected workpieceback to said storage means after the completion of said second machinetool operation; the operating sequence of storage, transporting andmachine tool operations, including said selecting step, applicable toeach said workpiece being under the control of said control means, theworkpieces of different batches being subjected to a differentpredetermined sequence of storage, transporting and machine tooloperations.
 9. The process of producing engineering components from aplurality of batches of different forms of workpieces by means of amachining system comprising a plurality of machine tools capable ofperforming different machining operations, storage means adapted forstoring a plurality of workpieces so that each workpiece is selectivelyaccessible, and programmable control means, each batch comprising aplurality of workpieces requiring substantially the same machiningoperations and the workpieces of different batches requiring differentmachining operations; said process comprising: mounting each workpieceon a pallet adapted for locating said workpiece on a pallet adapted forlocating said workpiece at each of said machine tools required formachining said workpiece; delivering each pallet-mounted workpiece ontosaid storage means for storage so that it is selectively accessible;selecting and transporting each pallet-mounted workpiece from saidstorage means to one of said machine tools for the performance of afirst machining operation thereon; transporting said selectedpallet-mounted workpiece back to said storage means after the completionof said first machining operation; transporting said selectedpallet-mounted workpiece to another of said machine tools for theperformance of a second machining operation thereon; and transportingsaid selected pallet-mounted workpiece back to said storage means afterthe completion of the second machining operation; the operating sequenceof storage, transporting and machining steps, including said selectingstep, applicable to each said workpiece being under the control of saidcontrol means; the workpieces of different batches being subjected to adifferent predetermined sequence of storage, transporting and machiningsteps.
 10. The process of producing engineering components from aplurality of workpieces of different forms by means of a machiningsystem comprising a plurality of machine tools capable of performingdifferent machining operations, storage means adapted for storing aplurality of workpieces so that each workpiece is selectivelyaccessible, transport means for transporting said workpieces, andprogrammable control means; said process comprising: selecting eachworkpiece from said storage means and transporting said selectedworkpiece along a predetermined route including at least one stop at apreselected machine tool for at least one machining operation on saidselected workpiece and at least one stop at said storage means,different selected workpieces following different predetermined routesand having different combinations of storage, transporting and machiningsequences; and the operating sequence of storage and transporting stepsfor each workpiece and the machining operation by said at least onemachine tool being under the control of said control means, theoperating sequence of at least one workpiece being different from theoperating sequences of other workpieces.
 11. The process of claim 10wherein the act of selecting each workpiece from said storage meanscomprises selecting a workpiece independently of other workpieces. 12.The process of producing engineering components from a plurality ofworkpieces of different forms by means of a mac g system comprising aplurality of machine tools capable of performing different machiningoperations, storage means for storing a plurality of workpieces so thateach workpiece is selectively accessible, transport means, andprogrammable control means; said process comprising: mounting eachworkpiece on a pallet adapted for locating said workpiece at each ofsaid machine tools required for machining said workpiece; locating eachpallet-mounted workpiece on said storage means so that it is selectivelyaccessible; operating said machining system including the selection ofeach pallet-mounted workpiece from said storage means and thetransporting of each selected pallet-mounted workpiece by said transportmeans between said storage means and at least one machine tool; andmonitoring the location of each pallet-mounted workpiece at the variousstages of its operating sequence by periodically entering into saidcontrol means information relevant to each workpiece; the operatingsequence of storage, transporting and machining steps, including saidselection step, of each said pallet-mounted workpiece being under thecontrol of said control means, the operating sequences of differentpallet-mounted workpieces being different.
 13. The process of producingengineering components from a plurality of batches of different forms ofworkpieces by means of a machining system comprising a plurality ofmachine tools capable of performing different machining operations,storage means having a plurality of selectively accessible locations forworkpieces, transport means, and programmable control means, each batchcomprising a plurality of work places requiring substantially the samemachining operations and the workpieces of different batches requiringdifferent machining operations; said process comprising: selecting eachworkpiece from a predetermined location on said storage means andtransporting said selected workpiece by said transport means along apredetermined route including stops at preselected of said machine toolsand at least one predetermined location on said storage means; theoperation sequence of storage, transporting and machining steps,including said selecting step, of each said workpiece being under thecontrol of said control means, the operating sequences of the workpiecesof each batch being the same and the operating sequences of theworkpieces of different batches having different combinations ofstorage, transporting and machining steps.
 14. A method of machining aplurality of batches of different forms of workpieces requiringdifferent machining operations from a plurality of machine tools capableof performing different machining operations, each batch comprising aplurality of workpieces of similar form, comprising: mounting eachworkpiece on a pallet adapted for locating said workpiece in each ofsaid machine tools required for machining said workpiece, locating eachpallet-mounted workpiece so that it is selectively accessible at alocation on storage means for the commencement of its operatingsequence, entering into control means details of each workpiece wherebythe location of each workpiece at various stages of it s operatingsequence is monitored by said control means, machining eachpallet-mounted workpiece including transporting each pallet-mountedworkpiece, selected from one of said locations at said storage means,between said storage means and at least one machine tool, anddismounting each workpiece from its associated pallet after completionof said operating sequence, the operating sequence of machining andtransporting steps for each workpiece being under the control of saidcontrol means, the operating sequences for different workpieces beingdifferent.
 15. A method of producing engineering components from aplurality of batches of different forms of workpieces requiring theperformance thereon of different operations by a plurality of machinetools, each batch consisting of workpieces of similar form, comprisingdelivering each workpiece onto storage means capable of holding aplurality of workpieces so that each workpiece is selectivelyaccessible, entering into programmable control means the identity ofeach workpiece, selecting and transporting each workpiece in turn fromsaid storage means to a first machine tool for the performance of firstoperation thereon, transporting said selected workpiece back to saidstorage means after the completion of said first operation, andsubsequently to a second machine tool for the performance of a secondoperation thereby and then back to said storage means, each saidtransporting step being under the control of said programmable controlmeans in accordance with a predetermined sequence of storage,transporting and machine tool operations unique for said selectedworkpiece, workpieces of different forms being subjected to differentsequences of said operations.
 16. The method of claim 15 wherein the actof delivering each workpiece onto storage means comprises deliveringeach workpiece onto storage means capable of holding a plurality ofworkpieces so that each workpiece is selectively accessibleindependently of the other workpieces.
 17. A method of machining aplurality of batches of different forms of workpieces requiringdifferent machining operations from a plurality of machine tools capableof performing different machining operations, each batch consisting ofworkpieces of similar form, comprising delivering each workpiece tostorage means and storing said workpieces on said storage means so thateach workpiece is selectively accessible; entering into programmablecontrol means means for determining the identity of each workpiece;selecting and transporting each workpiece in turn from said storagemeans to a first machine tool for the performance of a first machiningoperation thereof; transporting said selected workpiece back to saidstorage means after the completion of said first machining operation,storing said workpiece on said storage means so that it is selectivelyaccessible, and subsequently selecting and transporting said workpiecefrom said storage means to a second machine tool for machining therebyand then back to said storage means; each said transporting step beingunder the control of said control means in accordance with apredetermined operating sequence of storing, transporting and machiningsteps unique to said selected workpiece, workpieces of a different formbeing subjected to a different predetermined operating sequence.
 18. Amethod of machining a plurality of batches of different forms ofworkpieces requiring different machining operations from a plurality ofmachine tools capable of performing different machining operations, eachbatch consisting of workpieces of similar form, comprising deliveringeach workpiece to storage means adapted for storing said workpiece onsaid storage means so that each workpiece is selectively accessible,selecting and transporting each workpiece in turn from said storagemeans to a first machine tool for the performance of a first machiningoperation thereon, transporting said selected workpiece back to saidstorage means after the completion of said first machining operation,storing said workpiece on said storage means so that it is selectivelyaccessible, and subsequently selecting and transporting said workpiecefrom said storage means to a second machine tool for machining therebyand then back to said storage means, each of said transporting andmachining operations being under the control of a programmable controlmeans in accordance with a predetermined sequence of storage,transporting and machining operations unique to said selected workpiece,workpieces of different forms being subjected to a different sequence ofstorage, transporting and machining operation.
 19. A method of machininga plurality of batches of different forms of workpieces requiringdifferent machining operations from a plurality of machine tools capableof performing different machining operations, each batch consisting ofworkpieces of similar form, comprising mounting each workpiece on apallet adapted for locating said workpiece in each of said machine toolsby which it is to be machined, delivering each pallet-mounted workpieceonto storage means adapted for storing a plurality of the pallet-mountedworkpieces so that each workpiece is selectively accessible, enteringinto programmable control means the identity of each workpiece and thelocation thereof on said storage means, selecting a pallet-mountedworkpiece from said storage means and transporting said selectedpallet-mounted workpiece to first machine tool for the performance of afirst machining operation thereon, transporting said selectedpallet-mounted workpiece back to said storage means for storage so thateach workpiece is selectively accessible after the completion of saidfirst machining operation, and subsequently selecting and transportingsaid pallet-mounted workpiece from said storage means to a secondmachine tool for machining thereby and then back to the storage means,each of said transporting and machining operations being under thecontrol of said control means in accordance with a predeterminedsequence of storage, transporting and mach operations unique to saidselected workpiece, workpieces of different forms being subjected to adifferent preprogrammed sequence of storage, transporting and machiningoperations.
 20. The method of claim 19 wherein the act of deliveringeach pallet-mounted workpiece onto storage means comprises deliveringeach pallet-mounted workpiece onto storage means adapted for storing aplurality of the pallet-mounted workpieces so that each workpiece isselectively accessible independently of the other workpieces.
 21. Amethod of machining a plurality of different workpieces requiringdifferent forms of machining operations from a plurality of machinetools capable of performing different machining operations comprising:conveying each workpiece under the control of a programmable controlmeans along a predetermined route including, for at least some of theworkpieces, preselected machining stops at a plurality of machine toolsand at least one stop at a selected location on storage means adaptedfor storing a plurality of workpieces so that each workpiece isselectively accessible, different selected workpieces being caused tofollow different predetermined routes and to have different combinationsof machining and storage sequences under the control of said controlmeans.
 22. A method of machining a plurality of different workpiecesrequiring different machining operations from a plurality of machinetools capable of performing different machining operations under thecontrol of a programmable control means, comprising: mounting eachworkpiece on a pallet adapted for locating said workpiece in each ofsaid machine tools required for machining said workpiece; locating eachpallet-mounted workpiece, for the commencement of its operatingsequence, on storage means so that each workpiece is selectivelyaccessible; selecting and transporting each pallet-mounted workpiecefrom said storage means to at least one of said machine tools;performing at least one machining operation on said selectedpallet-mounted workpiece at said at least one of said machine tools; andentering into said control means details of said selected workpiecewhereby the location of said selected workpiece at various stages of itsoperating sequence is monitored by said control means; the operatingsequence of storage, transporting and machining steps being under thecontrol of said control means, different workpieces having differentoperating sequences.
 23. A method of machining a plurality of batches ofdifferent forms of workpieces requiring different machining operationsfrom a plurality of machine tools capable of performing differentmachining operations, each batch comprising a plurality of workpieces ofsimilar form, comprising: conveying each workpiece along predeterminedroute including, for at least some of the workpieces, preselectedmachining stops at a plurality of machine tools and at least onepredetermined period of being located at a selected location on storagemeans on which each workpiece is selectively accessible, the operatingsequence of machining, conveying and storage operations for eachworkpiece being under the control of programmable control means,workpieces of different forms following different combination ofmachining, conveying and storage sequences and workpieces of the sameform following similar such combinations.
 24. The process of producingengineering components from a plurality of workpieces of different formsby means of a machining system comprising a plurality of machine toolscapable of performing different machining operations, storage means forstoring a plurality of workpieces so that each workpiece is selectivelyaccessible, transport means, and programmable control means, saidprocess comprising: mounting each workpiece on pallet adapted forlocating said workpiece at each of said machine tools required formachining said workpiece; locating each pallet-mounted workpiece in saidmachining system for the commencement of its machining sequence;operating said machining system, including the transporting of eachselected pallet-mounted workpiece by said transport means to and fromsaid storage means and the transporting of each selected pallet-mountedworkpiece by said transport means between said storage means and atleast one machine tool; and monitoring the location of each workpiece atthe various stages of its operating sequence by periodically enteringinto said control means information relevant to each workpiece; theoperating sequence of storage and transport steps for each workpiece andthe machining operation by said at least one machine tool being underthe control of said control means, the operating sequence of at leastone workpiece being different from the operating sequences of otherworkpieces.
 25. The method of claim 24 wherein said storage meanscomprises a storage in which a plurality of workpieces may be placed sothat each workpiece is selectively accessible independently of otherworkpieces.
 26. A method of machining, by means of a plurality ofmachine tools, a plurality of batches of different forms of workpiecesrequiring different machining operations, each batch comprising aplurality of workpieces of similar form, comprising: storing eachworkpiece on storage means so that each workpiece is selectivelyaccessible; detecting when a machine tool has completed a machiningoperation on a particular workpiece and is ready to receive anotherworkpiece; transporting said particular workpiece from said machinetool; transporting a selected further workpiece from said storage meansto said machine tool; and machining further workpieces by followingsimilar detecting and transporting steps in relation to appropriateworkpieces and appropriate machine tools; said machining andtransporting operations being under the control of control means. 27.The method of claim 26 wherein the act of storing each workpiececomprises storing each workpiece on a storage means so that eachworkpiece is selectively accessible independently of other workpieces.28. A method of machining, by means of a plurality of machine tools, aplurality of batches of different forms of workpieces requiringdifferent machining operations, each batch comprising a plurality ofworkpieces of similar form, comprising: storing each workpiece onstorage means so that each workpiece is selectively accessible;detecting when a machine tool has completed a machining operation on aparticular workpiece and is ready to receive another workpiece;transporting said particular workpiece from said machine tool to aselected location on said storage means; transporting a selected furtherworkpiece from said storage means to said machine tool; and machiningfurther workpieces by following similar detecting and transporting stepsin relation to appropriate workpieces and appropriate machine tools;said machining, storage and transporting operations being under thecontrol of control means.
 29. A method of machining by means of aplurality of machine tools, a source of workpieces, and common transportmeans for transporting workpieces between said source and said machinetools, a plurality of batches of different workpieces requiringdifferent machining operations under the control of programmable controlmeans, each batch comprising workpieces of a similar form, comprising:locating each workpiece at said source so that it is selectivelyaccessible; detecting when a machine tool has completed a machiningoperation on a workpiece ad is ready to receive a further workpiece;operating said common transport means to select and deliver a furtherworkpiece from said source to said machine tool; operating said machinetool to perform the appropriate machining operation on said furtherworkpiece; detecting when said machining operation on said her workpiecehas been completed; operating said common transport means to remove saidfurther workpiece from said machine tool; and proceeding in similarmanner to machine still further workpieces by said machine tool and theother of said machine tools; the operation of said machine tools andsaid transport means being under the control of said control means. 30.The method of claim 29 wherein said locating step comprises locatingeach workpiece as said source so that each workpiece is selectivelyaccessible independently of other workpieces.
 31. The process ofproducing a plurality of different engineering components fromworkpieces of different forms by performance of operations thereon bymeans of a plurality of data controlled machine tools each of which hasautomatic means for locating and securing thereon a workpiece, storagemeans having a plurality of locations for workpieces stored thereon sothat each workpiece is selectively accessible, transport means, andprogrammable control means, said machine tools being capable ofperforming different machining operations; said process comprising:selecting each workpiece from a location on said storage means,transporting each selected workpiece by said transport means betweensaid storage means and at least one preselected machine tool,automatically and sequentially locating and securing each of saidworkpieces at a predetermined location and attitude in each of saidselected machine tools, and subsequently performing programmed operationon each of said workpieces in each of said selected machine tools whilesaid workpiece is so located and secured therein, the operating sequenceperformed by said storage means, transport means and machine tools beingunder the control of said control means, the operating sequences ofdifferent workpieces, under the control of said control means, beingdifferent.
 32. A method of machining, by means of a plurality of machinetools, a plurality of batches of workpieces, each batch consisting of aplurality of workpieces of similar form and requiring similar machiningoperations, the workpieces of different batches being of different formand requiring different machining operations; said method comprisingstoring said workpieces of different forms on storage means so that eachworkpiece is selectively accessible; selecting each workpiece from saidstorage means; transporting each said selected workpiece by transportmeans between said storage means and at least one selected machine tool;selecting the program required for a selected workpiece delivered to aselected machine tool; and performing the programmed machining operationon said selected workpiece while located at said selected machine tool;said selecting of workpieces and transporting of said selectedworkpieces being under the control of control means; at least a portionof said workpieces being subjected to different sequences of storing,transporting and machining steps.
 33. The method of claim 32 whereinsaid storing step comprises storing said workpieces of different form sothat each workpiece is selectively accessible from said storage meansindependently of other workpieces.
 34. A process for producingengineering components from workpieces by the removal of materialtherefrom by means of a plurality of data-controlled machine tools, eachof which has automatic means for locating and securing therein aworkpiece, said machine tools being capable of performing differentmachining operations on the workpiece; said process comprising:delivering each workpiece to storage means and storing each of saiddelivered workpieces so that it is selectively accessible; selectingeach workpiece from said storage means; presenting each of said selectedworkpieces to at least one selected of said machine tools; automaticallylocating and securing each of said selected workpieces at apredetermined location and attitude in said at least on selected of saidmachine tools; and subsequently performing programmed machiningoperations on each of said selected workpieces in the respective of saidat least one selected of said machine tools while said selectedworkpieces are located and secured therein.
 35. The method of claim 34wherein the act of storing each of said delivered workpieces comprisesstoring each of said delivered workpieces so that it is selectivelyaccessible independently of other workpieces.
 36. A method of machining,by means of a plurality of machine tools, a plurality of batches ofdifferent forms of workpieces requiring different machining operations,each batch comprising a plurality of workpieces of similar form;comprising: storing each workpiece on storage means so that it isselectively accessible; detecting when a machine tool has completed amachining operation on a particular workpiece and is ready to receiveanother workpiece; transporting said particular workpiece from saidmachine tool; selecting a further workpiece from said storage means andtransporting said selected further workpiece from said storage means tosaid machine tool; and machining further workpieces by following similardetecting and transporting steps in relation to appropriate workpiecesand appropriate machine tools; said transporting operations being underthe control of central control means and said machine tools each beingoperated by programmable means for performing an appropriate machineoperation on each workpiece transported thereto.
 37. The method of claim36 wherein the act of storing each workpiece comprises storing eachworkpiece on storage means so that it is selectively accessibleindependently of other workpieces.
 38. A process for producingengineering components from workpieces by the removal of materialtherefrom by means of a plurality of data-controlled machine tools, eachof which has an automatic locating and securing device for a workpiece,said machine tools being capable of performing different machiningoperations on the workpieces; said process comprising: delivering andstoring each workpiece so that it is selectively accessible; selectingeach workpiece from storage; presenting each of said selected workpiecesto at least one selected of said machine tools; automatically locatingand securing each of said selected workpieces at a predeterminedlocation and attitude in said at least one selected of said machinetools; and subsequently performing programmed machining operations oneach of said selected workpieces in the respective of said at least oneselected of said machine tools while said selected workpieces arelocated and secured therein.
 39. The process of producing engineeringcomponents from a plurality of workpieces of different forms by means ofa machining system comprising a plurality of machine tools capable ofperforming different machining operation, a storage containing aplurality of workpieces, each workpiece being selectively accessible, atransport mechanism, and a programmable control system, said processcomprising: mounting each workpiece on a pallet configured to permitsaid workpiece to be located at each of said machine tools required formachining said workpiece; locating each pallet-mounted workpiece in saidmachining system for the commencement of its machining sequence;operating said machining system, including by transporting each selectedpallet-mounted workpiece to and from said storage and between saidstorage and at least one machine tool; and monitoring the location ofeach workpiece at the various stages of its operating sequence byperiodically entering into said control system information relevant toeach workpiece; the operating sequence of storage and transporting stepsfor each workpiece and the machining operation by said at least onemachine tool being under the control of said control system, theoperating sequence of at least one workpiece being different from theoperating sequences of other workpieces.
 40. The process of producingengineering components from a plurality of workpieces of different formsby means of a machining system comprising a plurality of machine toolscapable of performing different machining operations, a storage devicestructured to store a plurality of workpieces in selectively accessiblefashion, a workpiece transporter, and a programmable control system;said process comprising: selecting each workpiece from storage andtransporting said selected workpiece along a predetermined routeincluding at least one stop at a preselected machine tool for at leastone machining operation on said selected workpiece and at least one stopat storage, different selected workpieces following differentpredetermined routes and having different combinations of storage,transporting and machining sequences; and the operating sequence ofstorage and transporting steps for each workpiece and the machiningoperation by said at least one machine tool being under the control ofsaid control system, the operating sequence of at least one workpiecebeing different from the operating sequences of other workpieces.
 41. Amethod of machining by means of a plurality of machine tools, a sourceof workpieces, and a common workpiece transporter extending between saidsource and said machine tools, a plurality of batches of differentworkpieces requiring different machining operations under programmablecontrol, each batch comprising workpieces of a similar form, comprising:locating each workpiece at said source so that it is selectivelyaccessible; detecting when a machine tool has completed a machiningoperation on a workpiece and is ready to receive a further workpiece;operating said common transporter to select and deliver a furtherworkpiece from said source to said machine tool; operating said machinetool to perform the appropriate machining operation on said furtherworkpiece; detecting when said machining operation on said furtherworkpiece has been completed; operating said common transporter toremove said further workpiece from said machine tool; and proceeding insimilar manner to machine still further workpieces by said machine tooland the other of said machine tools; the operation of said machine toolsand said transporter being under programmable control.
 42. The processof producing a plurality of different engineering components fromworkpieces of different forms by a plurality of data controlled machinetools, said machine tools being complementary to each other in relationto the operations to be carried out on said workpieces, said processcomprising: (a) securing each workpiece to a workpiece holder in apredetermined position and attitude with respect to the workpieceholder, (b) delivering each workpiece holder to storage and storing eachworkpiece holder so that each workpiece is selectively accessible, (c)selecting each workpiece holder from said storage, (d) presenting eachof said selected workpiece holders to selected of said machine tools inpredetermined sequence, the sequence for each form of workpiece beingdifferent, (e) automatically and sequentially locating each of saidselected workpiece holders at a predetermined location with respect toeach of said selected machine tools, and (f) subsequently performingprogrammed machine operations on each of said workpieces with each ofsaid selected machine tools while the respective holder is so located.43. The process of producing a plurality of different engineeringcomponents from workpieces of different forms by performance ofoperations thereon by a plurality of data-controlled machine tools, astorage having a plurality of locations for workpieces stored thereon sothat each workpiece is selectively accessible, a transporter, and aprogrammable controller, said machine tools being complementary to eachother in relation to the operations to be carried out on saidworkpieces, said process comprising: (a) securing each workpiece to aworkpiece holder in a predetermined position and attitude with respectto the workpiece holder, (b) selecting each workpiece holder from alocation on said storage means; (c) transporting each selected workpieceholder by said transporter between said storage and at least onepreselected machine tool, (d) automatically and sequentially locatingeach of said workpiece holders at a predetermined location with respectto each of said selected machine tools, and (e) subsequently performingprogrammed operations on each of said workpieces at each of saidselected machine tools while said workpiece holder is so located, theoperating sequence performed by said storage, transporter and machinetools, including selecting and locating workpiece holders, being underthe control of said programmable controller, the operating sequences ofdifferent workpieces, under the control of said programmable controller,being different.